Gait Planning of Quadruped Robot Based on ROS

摘要

The development of quadruped robot platforms is a relatively active area of scientific research. Taking into account the intuitiveness and high efficiency of the robot development process, the robot development method based on ROS(Robot Operating System) is adopted. First, the kinematics modeling of the quadruped robot is carried out, and the robot kinematics is solved. Secondly, the basic principles of walking gait planning for quadruped robots are introduced. The trajectory planning method based on Cartesian space is used to plan the trajectory of the quadruped robot's foot, and it is simulated and verified by Matlab. Finally, the quadruped robot model file is imported into ROS, and the gait planning control program of the quadruped robot is written through the user's API for motion planning simulation. At the same time, RViz can visualize the robot movement process, and obtain other relevant data during the movement process, indicating the correctness of the trajectory planning. The results show that the development method of quadruped robot based on ROS is feasible.